v0.1.0 · GR00T WBC in MuJoCo

Video in. Humanoid motion out.

Open pipeline: 2D video → SMPL → Unitree G1 physics-mimic in MuJoCo under NVIDIA GR00T WBC.

source · SMPL mesh · Unitree G1

Pick how you run it

No hosted compute. Your GPU or Google's.

zero install

Colab notebook

Opens in your browser with a free T4. Upload a video, run all cells, download the SMPL NPZ + G1 PKL + preview.

Open in Colab
byo-gpu

Local install

Clone, run one script, open the full control centre on localhost:3000. Drag-drop, artifact inspection, GR00T hook-ins.

Install guide →

Pipeline at a glance

step 1

GVHMR

mp4 → pt

Temporal SMPL param extraction

step 2

Convert NPZ

pt → npz

Y-up → Z-up, SONIC-ready schema

step 3

GMR retarget

pt → pkl

IK to G1's 29-DOF chain

step 4

Sanitize

pkl → pkl

Velocity, limits, grounding

step 5

GR00T + MuJoCo

npz → mp4

Physics mimic via WBC

Steps 1–4 ship in this repo (MIT). Step 5 plugs into NVIDIA GR00T — separate repo, private WBC policy.

Open source · MIT · single maintainer

GitHubQuickstart